% Robotics Toolbox for MATLAB
% Version 10.3.1  18-Nov-2018
%
%
% Homogeneous transformations 3D
%    angvec2r                    - angle/vector to RM
%    angvec2tr                   - angle/vector to HT
%    eul2r                       - Euler angles to RM
%    eul2tr                      - Euler angles to HT
%    ishomog                     - true if argument is a 4x4 matrix
%    isunit                      - true if argument is a unit vector
%    isrot                       - true if argument is a 3x3 matrix
%    oa2r                        - orientation and approach vector to RM
%    oa2tr                       - orientation and approach vector to HT
%    rotx                        - RM for rotation about X-axis
%    roty                        - RM for rotation about Y-axis
%    rotz                        - RM for rotation about Z-axis
%    rpy2r                       - roll/pitch/yaw angles to RM
%    rpy2tr                      - roll/pitch/yaw angles to HT
%    tr2angvec                   - HT/RM to angle/vector form
%    tr2eul                      - HT/RM to Euler angles
%    tr2rpy                      - HT/RM to roll/pitch/yaw angles
%    transl                      - set or extract the translational component of HT
%    trchain                     - sequence of HT
%    trinterp                    - interpolate an HT
%    trnorm                      - normalize HT
%    trprint                     - print an HT
%    trotx                       - HT for rotation about X-axis
%    troty                       - HT for rotation about Y-axis
%    trotz                       - HT for rotation about Z-axis
%    trlog                       - efficient logarithm
%    trexp                       - efficient exponentiation
%    trscale                     - pure scale change
%
% Homogeneous transformations 2D
%    ishomog2                    - true if argument is a 4x4 matrix
%    isrot2                      - true if argument is a 3x3 matrix
%    rot2                        - rotation matrix in 2D
%    transl2                     - set or extract the translational component of HT
%    trchain2                    - sequence of HT
%    trexp2                      - exp in 2D
%    trinterp2                   - interpolate an HT
%    trot2                       - HT for rotation in 2D
%    trprint2                    - print an HT
%
% Homogeneous transformation utilities
%    r2t                         - RM to HT
%    t2r                         - HT to RM
%    rt2tr                       - (R,t) to HT
%    tr2rt                       - HT to (R,t)
%
% Homogeneous points and lines
%    e2h                         - Euclidean coordinates to homogeneous
%    h2e                         - homogeneous coordinates to Euclidean
%    homline                     - create line from 2 points
%    homtrans                    - transform points
%
%  * HT = homogeneous transformation, a 4x4 matrix, belongs to the group SE(3).
%  * RM = RM, an orthonormal 3x3 matrix, belongs to the group SO(3).
%  * Functions of the form <b>tr2XX</b> will also accept a RM as the argument.
%
% Differential motion
%    delta2tr                    - differential motion vector to HT
%    eul2jac                     - Euler angles to Jacobian
%    rpy2jac                     - RPY angles to Jacobian
%    skew                        - vector to skew symmetric matrix
%    skewa                       - vector to augmented skew symmetric matrix
%    tr2delta                    - HT to differential motion vector
%    tr2jac                      - HT to Jacobian
%    vex                         - skew symmetric matrix to vector
%    vexa                        - augmented skew symmetric matrix to vector
%    wtrans                      - transform wrench between frames
%
% Trajectory generation
%    ctraj                       - Cartesian trajectory
%    jtraj                       - joint space trajectory
%    lspb                        - 1D trapezoidal trajectory
%    mtraj                       - multi-axis trajectory for arbitrary function
%    mstraj                      - multi-axis multi-segment trajectory
%    tpoly                       - 1D polynomial trajectory
%    trinterp                    - interpolate HT s
%    trinterp2                   - interpolate HT s
%
% Pose representation classes
%    +ETS2                       - elementary transform sequence in 2D
%    +ETS3                       - elementary transform sequence in 3D
%    Quaternion                  - general quaternions
%    SO2                         - rotations SO(2)
%    SE2                         - poses SE(2)
%    SO3                         - rotations SO(3)
%    SE3                         - poses SE(3)
%    Twist                       - 2D and 3D twists
%    UnitQuaternion              - unit quaternions
%    RTBPose                     - Abstract pose support
%
% Serial-link manipulator
%    DHFactor                    - convert elementary transformations to DH form
%    Link                        - construct a robot link object
%    Prismatic                   - construct a prismatic link object
%    PrismaticMDH                - construct a prismatic link object (MDH params)
%    Revolute                    - construct a revolute link object
%    RevoluteMDH                 - construct a revolute link object (MDH params)
%    SerialLink                  - construct a serial-link robot object
%    friction                    - return joint friction torques
%    nofriction                  - return a robot object with no friction
%    perturb                     - return a robot object with perturbed parameters
%    plot                        - plot/animate robot
%    teach                       - drive a graphical  robot
%
%     Models
%        models                  - list/search all models
%        mdl_3link3d             - 3DOF arm in 3D
%        mdl_KR5                 - Kuka KR5
%        mdl_S4ABB2p8            - ABB S4 2.8 (DH, kine)
%        mdl_ball                - high DOF ball robot
%        mdl_baxter              - Rethink Robotics Baxter
%        mdl_cobra600            - Adept SCARA robot
%        mdl_coil                - high DOF coiled robot
%        mdl_Fanuc10L            - Fanuc 10L (DH, kine)
%        mdl_hyper2d             - high DOF planar
%        mdl_hyper3d             - high DOF 3D
%        mdl_irb140              - ABB IRB140
%        mdl_irb140_mdh          - ABB IRB140 (MDH)
%        mdl_jaco                - Kinova Jaco (DH)
%        mdl_KR5                 - Kuka KR5  (DH)
%        mdl_LWR                 - Kuka LWR (DH)
%        mdl_m16                 - Fanuc M16
%        mdl_mico                - Kinova Mico (DH)
%        mdl_MotomanHP6          - Motoman HP6 (DH, kine)
%        mdl_nao                 - Alderbaran Nao humanoid
%        mdl_p8                  - Puma 560 on an XY base
%        mdl_panda               - Franka-Emika PANDA
%        mdl_phantomx            - PhantomX pincher
%        mdl_planar1             - 1 line planar robot
%        mdl_planar2             - 1 line planar robot
%        mdl_planar3             - 1 line planar robot
%        mdl_puma560             - Puma 560 data (DH, kine, dyn)
%        mdl_puma560akb          - Puma 560 data (MDH, kine, dyn)
%        mdl_quadrotor           - simple quadcopter model
%        mdl_sawyer              - Rethink Sawyer
%        mdl_stanford            - Stanford arm data (DH, kine, dyn)
%        mdl_stanford_mdh        - Stanford arm data (MDH, kine)
%        mdl_twolink             - simple 2-link example (DH, kine)
%        mdl_twolink_mdh         - simple 2-link example (MDH, kine)
%        mdl_twolink_sym         - simple 2-link example (DH, kine, symbolic)
%        mdl_ur3                 - Universal Robotics UR3 (DH, kine, dyn)
%        mdl_ur5                 - Universal Robotics UR5 (DH, kine, dyn)
%        mdl_ur10                - Universal Robotics UR10 (DH, kine, dyn)
%        urdfparse               - parse a URDF file
%
%     Kinematics
%        DHFactor                - transform sequence to DH description
%        ETS2                    - simplified kinematics in 2D
%        ETS3                    - simplified kinematics in 3D
%        jsingu                  - find joint singularity
%        fkine                   - forward kinematics
%        ikine                   - inverse kinematics (numeric)
%        ikine6s                 - inverse kinematics for 6-axis arm with sph.wrist
%        jacob0                  - Jacobian in base coordinate frame
%        jacobe                  - Jacobian in end-effector coordinate frame
%        maniplty                - compute manipulability
%        trchain                 - transform chain in 3D
%        trchain2                - transform chain in 2D
%
%     Dynamics
%        accel                   - forward dynamics
%        cinertia                - Cartesian manipulator inertia matrix
%        coriolis                - centripetal/coriolis torque
%        fdyn                    - forward dynamics
%        wtrans                  - transform a force/moment
%        gravload                - gravity loading
%        inertia                 - manipulator inertia matrix
%        itorque                 - inertia torque
%        rne                     - inverse dynamics
%
%     Code generation
%        CodeGenerator           - symbolic simplification class
%        ccodefunctionstring     - convert symbolic expression into a C-code function
%        distributeblocks        - distribute blocks in Simulink block library
%        doesblockexist          - check existence of block in Simulink model
%        multidfprintf           - print formatted text to multiple streams
%        simulinkext             - return file extension of Simulink block diagrams
%        symexpr2slblock         - create symbolic embedded MATLAB Function block
%
% Mobile robot
%    LandmarkMap                 - point feature map object
%    RandomPath                  - driver for Vehicle object
%    RangeBearingSensor          - "laser scanner" object
%    Vehicle                     - abstract vehicle superclass
%    Bicycle                     - construct a mobile robot with bicycle like kinematics
%    Unicycle                    - construct a mobile robot with unicycle like kinematics
%    sl_bicycle                  - Simulink "bicycle model" of non-holonomic wheeled vehicle
%    Navigation                  - Navigation superclass
%    Sensor                      - robot sensor superclass
%    plot_vehicle                - plot vehicle
%
%     Localization
%        EKF                     - extended Kalman filter object
%        ParticleFilter          - Monte Carlo estimator
%        PoseGraph               - pose-graph SLAM
%
%     Path planning
%        Bug2                    - bug navigation
%        DXform                  - distance transform from map
%        Dstar                   - D* planner
%        Lattice                 - lattice planner
%        makemap                 - simple map editor
%        PRM                     - probabilistic roadmap planner
%        RRT                     - rapidly exploring random tree
%
% Graphics
%    circle                      - compute/draw points on a circle
%    mplot                       - time series plotting
%    plot2                       - plot trajectory
%    plotp                       - plot points
%    plotvol                     - set plot bounds
%    plot_arrow                  - draw an arrow
%    plot_box                    - draw a box
%    plot_circle                 - draw a circle
%    plot_ellipse                - draw an ellipse
%    plot_homline                - plot homogeneous line
%    plot_point                  - plot points
%    plot_poly                   - plot polygon
%    plot_sphere                 - draw a sphere
%    qplot                       - plot joint angle trajectories
%    trplot                      - plot HT as a coordinate frame
%    trplot2                     - plot HT, SE(2), as a coordinate frame
%    tranimate                   - animate a coordinate frame
%    tranimate2                  - animate a coordinate frame
%    xaxis                       - set x-axis scaling
%    yaxis                       - set y-axis scaling
%    xyzlabel                    - label axes x, y and z
%
% Utility
%    about                       - summary of object size and type
%    angdiff                     - subtract 2 angles modulo 2pi
%    Animate                     - create movie file
%    bresenham                   - Bresenhan line drawing
%    colnorm                     - columnwise norm of matrix
%    diff2                       - elementwise diff
%    distancexform               - compute distance transform
%    edgelist                    - trace edge of a blob
%    gauss2d                     - Gaussian distribution in 2D
%    ismatrix                    - true if non scalar
%    isvec                       - true if argument is a 3-vector
%    isunit                      - true if argument is a unit vector
%    numcols                     - number of columns in matrix
%    numrows                     - number of rows in matrix
%    peak                        - find peak in 1D signal
%    peak2                       - find peak in 2D signal
%    PGraph                      - general purpose graph class
%    pickregion                  - pick a region in figure
%    Plucker                     - Plucker line class
%    polydiff                    - derivative of polynomial
%    Polygon                     - general purpose polygon class
%    randinit                    - initialize random number generator
%    ramp                        - create linear ramp
%    runscript                   - step through a script file
%    rvccheck                    - check RVC installation
%    unit                        - unitize a vector
%    tb_optparse                 - toolbox argument parser
%    stlRead                     - read an STL file
%    RTBPlot                     - graphics support
%    chi2inv_rtb                 - simple inverse chi squared
%
% Demonstrations
%    rtbdemo                     - Serial-link manipulator demonstration
%
% Examples
%    sl_quadcopter               - Simulink model of a flying quadcopter
%    sl_braitenberg              - Simulink model a Braitenberg vehicle
%    movepoint                   - non-holonomic vehicle moving to a point
%    moveline                    - non-holonomic vehicle moving to a line
%    movepose                    - non-holonomic vehicle moving to a pose
%    walking                     - example of 4-legged walking robot
%    eg_inertia                  - joint 1 inertia I(q1,q2)
%    eg_inertia22                - joint 2 inertia I(q3)
%    eg_grav                     - joint 2 gravity load g(q2,q3)
%
%  *  located in the examples folder
%
% Copyright (C) 2011 Peter Corke
